From c887c0e5fa78b7ec88201d2d9b1da829f3432349 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Tue, 22 Aug 2017 15:52:21 +0200
Subject: [PATCH] SplineGradientBased: Lock explicit input parameters
* to ensure a path goes through a state.
---
src/path-optimization/spline-gradient-based.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/path-optimization/spline-gradient-based.cc b/src/path-optimization/spline-gradient-based.cc
index 0e1831a8..2bd91eab 100644
--- a/src/path-optimization/spline-gradient-based.cc
+++ b/src/path-optimization/spline-gradient-based.cc
@@ -181,7 +181,7 @@ namespace hpp {
ConstraintSetPtr_t set = state->configConstraint();
value_type guessThreshold = this->problem().getParameter ("SplineGradientBased/guessThreshold", value_type(-1));
Eigen::RowBlockIndexes select =
- this->computeActiveParameters (path, set->configProjector()->solver(), guessThreshold);
+ this->computeActiveParameters (path, set->configProjector()->solver(), guessThreshold, true);
const size_type rDof = this->robot_->numberDof(),
col = idxSpline * Spline::NbCoeffs * rDof,
--
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